Lapierre started his career in 1993 in karting, finishing 3rd in the French championship in 1996, 6th in the European Championships in 1997 and reaching the finals of the European Junior Championship in 1998 before moving to French Formula Renault in 1999. He stayed there for 2000 and 2001, 2001 also seeing two races in Formula Renault 2000 Eurocup. He again raced in French Formula Renault in 2002, also driving a full season of 2000 Eurocup and some races of French Formula Three (most of them being in the main class, although he drove two races in the B-Class also).

With his reputuation increasing and his talent proven, Lapierre was rewarded for his Euroseries performances with a drive in GP2 Series for current champions Arden Motorsport. He partnered with Heikki Kovalainen.

During 2005 Lapierre drove for A1 Team France in the A1 Grand Prix series helping the team win the championship and therefore the World Cup of Motorsport. Nicolas won both the sprint and main race events in Germany and Australia, the main race in Dubai and the sprint in Indonesia.

During 2006 he continued with the Arden team in GP2, however his season was interrupted by a spectacular first corner crash in Monaco in which he was a victim of someone else's accident. Nicolas received two compressed vertebrae in the crash and missed the British round of the series. Despite this, his points score was higher than the previous season's tally.

Lapierre was dropped at the end of 2006 and has since signed to participate in a 3rd season of GP2 for the DAMS team, which finished 10th overall in the constructors' standings and runs the French A1 GP team, which won the first season of A1 Grand Prix.